Directional game controller

ABSTRACT

The invention has for object a game controller having an actuator ( 2, 102 ) mobile in rotation in relation to a fixed part ( 3, 103 ), in such a way as to simulate a control of the rotation of a steering column of a simulated vehicle. 
     According to the invention, the game controller implements means for detecting the displacement in rotation of the actuator ( 2, 102 ) comprising at least one Hall effect or magnetoresistive effect detecting unit, constituted of at least two elements, of which a permanent magnet and a magnetic sensor ( 24, 124 ). At least during the rotation of the actuator ( 2, 102 ), a first element is integral in rotation with the actuator ( 2, 102 ) and a second element is integral in rotation with said fixed part ( 3, 103 ).

FIELD OF THE INVENTION

The field of the invention is that of equipment and accessories forinteractive leisure activities for microcomputers and game consoles.More precisely, the invention relates to a game controller (forentertainment programmes, or for programmes for the simulation, learningof the driving or piloting of vehicles, or for educational games foradults (“serious games”), etc.) comprising an element mobile in rotationin relation to a steering support carried by a base. This can forexample be a steering wheel, handlebars, or any other element that canbe used in a simulation game, in particular to control the displacementsof a vehicle. Certain programmes or software indeed implement asimulated vehicle which moves about in a simulated environment. Thereproduction of the simulated vehicle can be a true reproduction of anactual vehicle, but it can also be only inspired from an actual vehicle,or be without any link to reality.

PRIOR ART

It is known to use, in order to control video games, different types ofinterfaces, in particular in the form of directional handlebars orsteering wheels, according to the applications and needs, and generallywith the purpose of coming as close as possible to reality. As such forvideo game simulating the driving of a vehicle, the use of an actuatorcorresponding in its shape and in its use to the type of vehicle drivenrenders the simulation more realistic, for example, the use of asteering wheel having the shape and the functions of the steering wheelof a saloon vehicle for a saloon vehicle racing game.

Conventionally, steering column game controllers include at least onegraspable part (steering wheel or handlebars, for example) pivotallymounted around an axis in relation to a base allowing the user to varythe trajectory of the simulated vehicle. The measurement of the rotationof the graspable part is generally carried out by a potentiometricsensor whereon acts the part mobile in rotation.

Steering controllers for video games with potentiometric sensor haveseveral disadvantages, in particular a lack of precision in themeasurement of the angle and a mechanical play of the potentiometer whenthe steering column is in the vicinity of the neutral position (whichgenerates a central dead zone). They are also subjected to dust andfouling.

Furthermore, potentiometric sensors sometimes have an insufficientlifespan. Due to the wear of the potentiometers, the steering controllercan lose its calibration, and even cease to operate. However, steeringcontrollers must support substantial forces (the user sometimes pressesagainst them), and the fragility of the potentiometric sensors requiresthat they be protected so that the forces are not applied directly onthem (which increases the cost and alters the feeling of the user).

Finally, in the case of a steering controller for car games, the use ofa potentiometer has the disadvantage of limiting the number ofrevolutions(s) that the steering wheel can accomplish which isdetrimental in particular when it is desired to simulate the executionof manoeuvres (for example, performing a U-turn in a simulated car).

Another disadvantage of most steering column video game controllers isthat the rotation of the steering controller is too soft, hardlyrealistic, and this hinders in particular the user who needs to exertaccessorial actions on the actuator (for example, actuate the speed, thebrake or the clutch, turn the head of the driver of the simulatedvehicle) without changing direction involuntarily.

Another disadvantage of most steering column game controllers is thatthey are dedicated to the simulation of a single type of vehicle, andthat it is therefore required to provide several separate controllers,if one desires to use several programmes (for example an automobileracing simulator, a motorcycle racing simulator and a freestyle cyclingsimulator). The graspable part of the game controller is suitable atbest to the same type of simulated vehicle. It is not satisfactory tocontrol for example, the acceleration of a motorcycle by means of abutton placed on a steering wheel. And, controlling the trajectory of aFormula 1 by means of motorcycle handlebars is in no way a realisticsimulation. As for simulation enthusiasts, only a quasi-exact replica ofthe graspable part of their favourite actual vehicle will be suitable.

Beyond the graspable part which is adapted, at best, to one type ofsimulated vehicle, the rest of the steering controller is notsufficiently robust (especially for off-road motorcycle simulations) tobe suitable for several types of simulated vehicles, therefore forinterfaces of varied forms and in the case in particular withhandlebars, allow the user to press on the game controller and to useboth hands (one hand on each side of the handlebars), his fingers forspecific actions on the actuator (for example, to actuate the brakes orthe clutch on the handlebars), and his wrists (for example, to turn anacceleration thumbwheel on the handlebars). In particular, for moststeering controllers, the potentiometric sensor, the fixed part and/orthe link between the fixed part and the graspable part of the controllerare not sufficiently robust.

OBJECTIVES OF THE INVENTION

The invention has in particular for objective to overcome thesedisadvantages of prior art.

More precisely, the invention has for objective to provide a steeringcolumn game controller increasing the realism of the game, and thereforethe precision and the adaptation to a given game, in particular forvehicle driving simulations.

Another objective of the invention is to provide, according to at leastone embodiment, a steering column game controller provided with a longlifespan and good resistance to the forces exerted by the user.

The invention further has for objective, according to at least oneembodiment, to render the steering column game controller easier tostore and to transport. Another objective of the invention according tothis aspect, is to provide a steering column game controller which issimple (comprising few parts) and easy to assemble. Another objective ofthe invention according to this aspect, is to provide a steering columngame controller of which the after-sales service and recycling arefacilitated.

Another objective of the invention is to provide such a steering columngame controller, making it possible simply and effectively, according toat least one embodiment, to use different software, that implements forexample different vehicles.

SUMMARY OF THE INVENTION

These objectives, as well as others which shall appear in what follows,are achieved using a game controller having an actuator mobile inrotation in relation to a fixed part, in such a way as to simulate acontrol of the rotation of a steering column of a simulated vehicle.

In other terms, this entails a directional game controller thatsimulates steering members of a simulated vehicle that have a steeringcolumn. This steering controller, capable of generating output signals,comprises a fixed part and an actuator that simulates the graspable partof these steering members and which cooperates with a steering columnwhich is mobile in rotation in relation to the fixed part. Note that thefixed part can be mobile in relation to the floor or to the supportwhereon the game controller is fixed or positioned.

According to the invention, said controller implements means fordetecting the displacement in rotation of said actuator comprising atleast one Hall effect or magnetoresistive effect detecting unit(including, but not limited to, the giant magnetoresistive effect),constituted of at least two elements, of which a permanent magnet and amagnetic sensor, provided in such a way that, at least during therotation of said actuator, a first of said elements is integral inrotation with said actuator and a second of said elements is integral inrotation with said fixed part.

As such, the measurement of the angle of rotation of the actuator inrelation to the fixed part can be carried out more precisely than withpotentiometric sensors. The absence of a potentiometric sensor confersimproved longevity and reliability to game controller. The forcesexerted by the user are not transmitted to a potentiometric sensor, butto a steering column of the controller, or shaft, which is dimensionedin order to support substantial forces. The controller therefore offersa realistic feeling to the user (or player).

The measurement of the angle of rotation of the actuator in relation tothe fixed part can as such be carried out without contact between themagnet and the magnetic sensor. As magnetic fields pass through manymaterials, this measurement can be carried out even if material isplaced between the magnet and the magnetic sensor. The magnetic sensorcan as such, where applicable, be protected by a casing of the actuatorconstituted, for example, of plastic.

The absence of contact limits the risks of wear and of fouling, and canallow, in certain embodiments, for an easy disassembly of the actuator,and where applicable its immediate interchangeability, if severaldifferent actuators are available.

In certain embodiments, it further makes it possible to provide acontroller in at least two parts or modules that can be separated. The“actuator” module can be sold separately from the “fixed part” module.This facilitates storage: as the modules are separable, they can beseparated and arranged together in a box of a smaller volume than whenthe controller is constituted of elements that cannot be separated. Thisallows for the realisation of economies of scale on the manufacturing ofa fixed “part” module that is common to several controllers. This alsofacilitates transport and storage, since the modules can be transportedor stored independently. This finally facilitates after-sales servicesince if one module is defective, it is not necessary to return theentire controller to the seller or to the manufacturer.

It is also possible in certain embodiments to provide a controller in atleast two modules (or sub-units) that can be separated of which onemodule does not contain any electrical element. Providing the electricalelements all grouped together in at least one module and providing in atleast one other module the non-electrical elements (for example themodule comprising the steering column and the base) further facilitatesthe after-sales service as the electrical failures can easily bedistinguished from mechanical failures, the after-sales service (return,exchange, etc.) can therefore be applied solely to the defective module.This further facilitates the recycling of the controller as thenon-electrical module or modules can be recycled and valorised inseparate recycling units.

Even in the case where the actuator can be removed only from the fixedpart, for example by an operator of a recycling unit (for example, byunscrewing one or several screws), it remains desirable, for the reasonsindicated previously, to provide a controller constituted of at leasttwo parts or sub-units that can be removed from one another, of which atleast one sub-unit contains no electrical element.

According to a particular embodiment of the invention, the elementscomprising the Hall effect detecting unit are aligned according to theaxis of rotation of said actuator.

It enables to use a smaller and/or less “strong” magnet. It also enablesto use only one sensor and one magnet and it eases the development ofthe controller (this is particularly important in the case of anactuator which can be detached from the fixed part) and it facilitatesthe demounting of the controller.

In a particular embodiment, the controller implements two separatedetection units, i.e. a first sensor located in the actuator cooperatingwith a magnet placed in the vicinity of the steering column, and asecond sensor placed across from the motor dynamising the steeringcolumn in rotation (and where applicable in translation).

According to a particular embodiment, the magnet of the Hall effectdetecting unit is integral with the fixed part.

Said magnet can be integral with the fixed part by the intermediary of afirst fixed shaft in relation to the fixed part of the controller, thisfirst fixed shaft extending according to the axis of rotation of theactuator and carrying this magnet.

It reduces the distance between the sensor and the magnet(s) (this isimportant because the density of the magnetic flux decreases with thedistance).

In particular, this first shaft can be a cylindrical magnet carrier rodand the magnet can be a round magnet mounted at the end of the rod.

According to a particular embodiment of the invention, a second shaftmobile in rotation in relation to the fixed part of the controlleraccording to the axis of rotation of the actuator, can provide theguiding of said round magnet in relation to said magnetic sensor.

It also provides more sturdiness (this is important because thecontroller may be used for a freestyle motorcycling and freestylemotocross simulations, as a consequence, both the actuator (handlebars)and the steering column will suffer great forces which are higher thanforces which are incurred for example during a racing car simulation).

It can as such in particular be provided that the first fixed shaftand/or the magnet are shaped in such a way that the magnet is placedless than 9 mm from the magnetic sensor.

According to another particular embodiment of the invention, the meansfor displacement in rotation of the actuator include a rotary electricmotor acting on the actuator by the intermediary of means fortransmitting belonging to the group comprising gears, pulleys, toothedwheels, belts and chains.

In this embodiment, the game controller is not only capable ofgenerating output signals, but also receiving input signals whichcorrespond, for example, to commands (execution of a torque effect, of avibration effect, etc.) or to data (data coming from for example, apedal assembly and/or from a gearbox separate from the steering wheel)or to a particular operating mode of the controller (calibrating,demonstration, energy savings, etc.).

The controller implements means for detecting the displacement inrotation of the actuator comprising at least one Hall effect ormagnetoresistive effect detecting unit (including, but not limited to,the giant magnetoresistive effect).

In particular, the magnet is integral with the rotation shaft of therotary electric motor, the magnetic sensor being located in the vicinityof the magnet substantially in the extension of the shaft of the rotaryelectric motor. Consequently, said sensor and said magnet aresubstantially aligned according to the axis of rotation of said motor.

The measurement of the angle of rotation of the actuator in relation tothe fixed part can as such be carried out without contact between themagnet and the magnetic sensor.

This implementation offers a precision much superior to what exists inthe field of the video games. Furthermore it does not limit the numberof revolutions that the steering column can make.

According to a particular embodiment, the game controller comprisesmeans for displacement in translation of the actuator in relation to thefixed part over a predetermined range of displacement.

As such, the actuator is mounted mobile in translation in relation tosaid frame which is fixed (in this sense that it constitutes a referencebase of the game controller), over a predetermined range ofdisplacement. The control of the displacement in translation of theactuator can be provided by a linear electric motor constituted, forexample, of an assembly of at least two sliding parts sliding inrelation to one another, one of the sliding parts being integral withthe actuator and another of the sliding parts being integral with thefixed frame, a first of the sliding parts comprising at least one slotwherein can be displaced at least one penetrating portion of the secondof the sliding parts. The displacement in translation is generated byelectromagnetic means according to an electric signal of which thecharacteristics vary according to a command received (said command canbe, for example, a displacement instruction of the ramp or sinus type,or an instruction of the neutral position maintaining type), a first ofthe sliding parts being integral with at least one winding travelledthrough by the electric signal and a second of the sliding parts beingintegral with at least one magnet.

As such, the steering column is dynamised:

-   -   in translation by a force feedback and/or vibration system by        means, for example, of an electromagnetic device acting on the        steering column by the intermediary of an assembly of two        sliding parts, of which a base mobile in translation whereon is        mounted in rotation the column, the displacement in translation        of the base being controlled by electromagnetic means; and, in        at least one embodiment,    -   in rotation by a torque and vibration effect system by means,        for example, of a rotary electric motor acting on the steering        column by the intermediary of a system of toothed belts and        gears.

As underlined beforehand, the control of the displacement in rotation ofthe actuator can be provided by a rotary electric motor. Thedisplacement in rotation is generated by this rotary electric motoraccording to an electric signal of which the characteristics varyaccording to a command received (said command can be, for example, adisplacement instruction of the ramp or sinus type, or an instruction ofthe neutral position maintaining type). Means for processing, in theform of a microprocessor, control said electric signal and control andsuch the direction, the amplitude (for example, the angle of rotation ofthe rotary electric motor) and the speed of said displacement.

Many force feedback effects are possible, for example: inertia, spring,blocking, acceleration, abrupt movement (impact), etc.

Different vibration effects are also possible, they can in particulardiffer according to their amplitudes, durations, and periods.

The programmer of the game software chooses the force feedback effect oreffects to be applied according to the scenario of the game (forexample: the scenario provides for a section of ice-covered road, a bodyof water to be crossed, etc.) and actions of the user on the game (forexample, the user did not slow down or not enough). The game requiresthe execution of the force feedback effect or effects and/or vibrationeffect selected by the programmer for such a case from a library offorce feedback effects and vibrations.

Such a game controller can as such convert mechanical parameters comingfrom the software into forces applied to the steering column, andtherefore to the steering wheel, according to two axes.

As such, in addition to the conventional system of torque and vibrationeffects applied on the rotation of the column (and therefore of thesteering wheel or of the handlebars), simultaneous implementation iscarried out of at least one force feedback applied on the translation ofthe column by electromagnetic means in such a way as to simulate, inparticular, acceleration or deceleration effects and a suspensioneffect.

In other terms, the controller of the invention actuates the steeringcolumn in rotation and in translation offering as such a realisticfeeling to the user.

According to a particular embodiment of the invention, the actuator canbe detachable from the fixed part of the game controller.

Said actuator can include a housing forming a female part, provided tonest on a corresponding male part on the fixed part.

According to a particular embodiment, the game controller provides meansfor locking the actuator onto the fixed part.

According to a particular aspect, the actuator comprises a connectorwhereon a cable can be connected.

According to a particular embodiment, the actuator belongs to the groupcomprising:

-   -   The steering wheels;    -   The handlebars;    -   The ship helm.

In a particular embodiment, it can be provided that the game controllercomprises or is compatible with at least two interchangeable actuators.

It can in particular be provided that said interchangeable actuatorshave characteristics procuring different ergonomics for the user.

This difference in ergonomics can in particular come from an actuatorthat can have different forms, different diameters, different commands(for example, different buttons, an acceleration thumbwheel and nocontrol paddle, etc.), be wired or wireless, etc.

According to a particular aspect of the invention said interchangeableactuators can have magnetic sensors or different magnets, in such a wayas to obtain different restored effects, a different resolution (more orless precise measurements of displacement), and/or a resistance that ismore or less strong to magnetic disturbances or to temperaturevariations, etc.

According to a particular embodiment of the invention, the controller isconstituted of at least two parts (for example, a fixed part and amobile “actuator” part), of which one at least (more preferably, thefixed part) does not contain any element that operates thanks toelectric currents or to electromagnetic fields.

In particular, the game controller can be comprised of several modulesassembled by the user, said modules being themselves comprised ofelements provided preassembled to the user, at least one of said modulescontaining no element that implements electric currents orelectromagnetic fields nor any element that controls or that carrieselectric currents.

In a particular embodiment of the invention, a portion of the actuatorused as a casing for it can protect the magnetic sensor.

The invention further relates to the actuator mobile in rotation inrelation to a fixed part, in such a way as to simulate a control of therotation of a steering column, intended for a game controller.

Likewise, the invention also relates to the fixed part intended to form,with an actuator mobile in rotation in relation to this fixed part, agame controller.

Instead of a magnetic sensor counting the number of revolutions of oneor more magnets (by sensing a number of magnetic pole inversions), it ishere preferably another kind of magnetic sensor, a multiaxis sensor (forexample, 2D or 3D) which will sense the features of the magnetic fieldof one or more magnets (by measuring the rotation of the magnetic fieldi.e. the flux densities) according at least two directions. An algorithmis used in order to get angular values from the measures and todetermine the sign—direction of rotation—(and then it is possible tocalculate the speed and the acceleration or deceleration). This approachprovides an accuracy which is far higher than the accuracy of the videogame domain prior art.

In an alternative, no intermediary mean for transmitting displacement inrotation (i.e. no gear, pulley, toothed wheel, belt and/or chain) isused. Accordingly, the rotary electric motor (for torque and/orvibration effects) is directly linked to the steering column (the rotaryelectric motor may be in part a part of the steering column) and isacting on the actuator (via the steering column and, as the case may bevia a linking part or system which enables to detach the actuator fromthe steering column).

In another alternative, the rotary electric motor (for torque and/orvibration effects) and the linear electric motor (for force feedbackand/or vibration effects) may both be placed in the actuator. It enablesa controller which provides both torque and/or vibration effects andforce feedback and/or vibration effects while its fixed part does notcontain any element that implements electric currents or electromagneticfields nor any element that controls or that carries electric currents.

BRIEF DESCRIPTION OF THE DRAWINGS

Other characteristics and advantages of the invention shall appear moreclearly when reading the following description of two preferredembodiments, provided as simple and non-restrictive examples, and of theannexed drawings, wherein:

FIG. 1 is a view in perspective of the game controller according to afirst preferred embodiment of the invention, and more precisely of anexample of a steering wheel controller for the control in particular ofa video game;

FIG. 2 is a view in perspective of the game controller of FIG. 1, thedetachable actuator separated from the fixed part;

FIG. 3 is a view in perspective of the actuator of the game controllerof FIG. 1;

FIG. 4 is a view in perspective of the fixed part of the game controllerof FIG. 1;

FIG. 5 is a view in perspective of the inside of the fixed part FIG. 1;

FIG. 6 is a cross-section view of the controller of FIG. 1;

FIG. 7 is a view in perspective of the actuator and of a portion of theparts comprising the fixed part of the game controller according to asecond preferred embodiment of the invention;

FIG. 8 is another view in perspective of the actuator and of a set ofparts located inside the fixed part of the controller of FIG. 7;

FIG. 9 is a view in perspective of the actuator of the controller ofFIG. 7;

FIGS. 10A and 10B are respectively bottom and front views of the systemof fastening of the controller of FIG. 7;

FIG. 10C is a view in perspective of the fixed part of the controller ofFIG. 7;

FIG. 11 is another view in perspective of parts located inside the fixedpart of the controller of FIG. 7;

FIG. 12 is a side view of the inside of the fixed part of the controllerof FIG. 7;

FIG. 13 is a detailed view of means for force feedback in translation ofthe actuator of the controller of FIG. 7.

DETAILED DESCRIPTION

1. General Principle and Alternatives

The actuators of game directional controllers are generally handlebarsor steering wheels of which the angle of rotation in relation to thebase is measured by the intermediary of a potentiometer. Other types ofactuators can of course be considered, for example in order to simulatethe control of a boat, of a space vessel, etc.

The invention proposes to use a magnetic sensor and permanent magnetdetection unit to measure the displacement in rotation, and whereapplicable in translation, of the actuator in relation to the fixed partof the game controller, in such a way as to avoid any contact betweenthe means for measuring, and to obtain good precision. Note that such adetection unit can measure not only the angle of rotation of theactuator, but also the speed and the direction of rotation of theactuator. In what follows, systems based on the Hall effect shall bedescribed. The same approaches can however be implemented with systemsbased on the magnetoresistive effect in particular, but not limited to,the giant magnetoresistive effect.

Many implementations of the invention can be considered. A few examplesare proposed hereinafter.

1.1 Alternative 1

In a first preferred embodiment, the magnetic sensor can be mountedmobile in relation to the fixed part, more precisely it can be integralwith the actuator (including a part integral with the actuator) when theactuator pivots around the axis A. For example, the magnetic sensor canbe placed on a PCB fixed in the actuator. The magnet can be mountedintegral with the fixed part when the actuator pivots around the axis A.For example, the magnet can be mounted on a part fixed to the fixedpart, this part can be a shaft (a shaft is not necessarily cylindricalor tubular) extending according to the axis A.

1.2 Alternative 1 bis

In another example, this magnetic sensor (here mobile) can also bemounted in the fixed part, more precisely it can be integral with alinking part pivotally mounted on the fixed part, said linking partbeing intended to cooperate with an additional cavity of the actuatorand a permanent magnet being integral with the fixed part of thecontroller. In this embodiment, the magnetic sensor is not in theactuator (i.e. it is not in the graspable part of the controller) but inthe fixed part. When the actuator is assembled—in a removable ornon-removable manner—to the linking part, the magnetic sensor which isfixed to the linking part becomes integral in rotation with theactuator. The angle of rotation of the actuator is identical to theangle of rotation of the linking part and the magnetic sensor interactswith the permanent magnet which is fixed in relation to the actuator.

1.3 Alternative 1 ter

In another example, the magnet can be placed in a part mobile inrotation in relation to the fixed part (for example, in the actuator orin a linking part, but mobile in rotation in relation to the actuator bymounting the magnet on a roller bearing) and the locking of the actuatorto the fixed part at the same time blocks the magnet which can no longerturn in relation to the fixed part while still allowing for the rotationof the actuator in relation to the fixed part. The magnetic sensor isintegral in rotation with the actuator (for example, it is in theactuator or in a part integral with the actuator when the actuatorpivots in relation to the fixed part).

1.4 Alternative 2

In a second embodiment, the magnetic sensor can be mounted fixed inrelation to the fixed part, more precisely it can be integral with thefixed part (including a part fixed in relation to the fixed part evenwhen the actuator pivots around the axis A) when the actuator pivotsaround the axis A. For example, the magnetic sensor can be fixed in thefixed part. The magnet can be mounted integral with the actuator whenthe actuator pivots around the axis A. For example, the magnet can befixed to the actuator or mounted on a fixed part—in a permanent ornon-permanent manner—to the actuator.

In another example, the magnet integral in rotation with the actuator,and therefore mobile in relation to the fixed part is carried by amovable shaft (including a rod) which is integral with the actuator(including a linking part mobile in rotation around the axis A inrelation to the fixed part) and which carries this magnet to themagnetic sensor. The magnetic sensor is then fixed to the fixed part.

2. Detailed Description of a First Preferred Embodiment

In the first preferred embodiment described in what follows, theactuator is a steering wheel (type steering wheel type of a saloon car)that can be detached from the fixed part. A permanent magnet is placedon the fixed part of the controller and a rotating biaxial (2D) Halleffect magnetic sensor in the steering wheel. The use of a Hall effectdetecting unit, comprising at least two elements, of which a permanentmagnet and a magnetic sensor, makes it possible to avoid the passing ofan electric cable between the actuator and the fixed part (in the caseof an actuator that cannot be separated from the fixed part) or to avoidan electric connector between the actuator and the linking part (thepresence of a connector on the link between the actuator and the fixedpart has in particular the disadvantage of generating a weakness as theconnector is solicited at each release and taking of the actuator thatcan be detached).

In other embodiments, the magnet and the sensor can be inverted.Moreover, although the use of a single magnet and of a single sensor isadvantageous, in particular in a position wherein they are aligned withthe steering column, it can be considered to use several magnets and/orsensors distributed adequately.

Furthermore, in other embodiments, it can be considered that the Halleffect magnetic sensor may be a Hall effect 3D magnetic sensor.

FIG. 1 is therefore a perspective view of an example of a gamecontroller according to the invention. This controller 1 comprises anactuator 2, in the form of a steering wheel mobile in rotation inrelation to a fixed part 3 according to an axis A of rotation.

In this figure in particular can be distinguished control paddles 25 andbuttons 26 arranged on the actuator.

According to the embodiment of the example, FIG. 2 shows via aperspective view the actuator 2, once separated from the fixed part 3.

In order to assemble the actuator 2 with the fixed part 3, a linkingpart 31, pivotally mounted on the fixed part 3, is intended to cooperatewith an additional cavity 21 of the actuator 2. The forms of the cavity21 and of the linking part 31 are adjusted and make possible (when thesetwo parts cooperate) the transmission of the rotating movement of theactuator 2 to the linking part 31.

The controller comprises a system of fastening which makes it possibleto fix and to lock reversibly the actuator 2 onto a linking part 31. Thesystem of fastening comprises, in this embodiment, an axis 311 arrangedon the linking part 31. This axis 311 is intended to position itself ina housing 211 located in the cavity 21. The system of fastening furthercomprises a locking latch 22 arranged on the actuator 2. This latch isformed of a an upper part 221 which is provided to position itself in acavity 312 (which can be seen in FIG. 4) on the linking part 31, and ofa lower part 222 allowing the user actuate this latch 22 when he wantsto separate the actuator 2 from the fixed part 3.

Many other reversible or non-reversible means of fastening can of coursebe implemented, without leaving the scope of the invention, including asimple nesting by force of the steering wheel on the steering column 33,in a simplified embodiment.

FIG. 3 is a view in perspective of the actuator 2 seen from below. Thisfigure shows in particular a connector 23 whereon a cable can beconnected, for the supply of electrical energy and/or data transmission(for example, information on the rotation of the actuator 2, and whereapplicable additional information, such as a speed change command, whenthe user acts on the paddles 25, or other commands triggered by theactivation of the buttons 26 (which can be seen in FIG. 1) located onthe actuator 2).

In another embodiment, the transmission of the data can be donewirelessly, via a radio frequency transmitter (for example, 2.4 GHz)placed in the actuator 2; the supply of electrical energy then beingprovided by one or several batteries or accumulators placed in a casearranged in the actuator 2 or in a case that can be detached and thatcan be connected to the actuator 2.

FIG. 4 is a view in perspective of the fixed part 3. In particular canbe distinguished, at the front end of the fixed part 3, the linking part31 making it possible to carry out the interface between the actuator 2and the fixed part 3. This linking part 31 is mobile in rotation inrelation to base 32, according to the axis A and makes it possible totransmit to the steering column of the controller 1, which in thisembodiment is the shaft 33 (which can be seen in FIG. 5), the rotatingmovement exerted by the user on the actuator 2 and to a system fordynamisation and/or return of the steering wheel to neutral position (orcentre return system), detailed herein below.

FIG. 5 is a view in perspective of the inside of the fixed part 3showing in particular the centre return system (via an elastic in thisembodiment).

In this embodiment, the shaft 33 is designed in such a way that itconstitutes the main axis of rotation of the controller 1 (which cantherefore be qualified as a steering column of the controller 1), and inthat it also constitutes a part of the centre return system of theactuator 2. The shaft 33 is formed from a single part but it could beformed from several parts fixed together (for example, a shaft and areturn part whereon the forces for returning to the centre areexecuted). The shaft 33 (or steering column 33) is mounted pivotinglyaround the axis A in relation to the support of the rotation mechanism35, with the latter being fixed to the fixed part 3. The base 32 and thesupport of the rotation mechanism 35 provide the guiding in rotation ofthe steering column 33. The steering column 33 is integral in rotationwith the linking part 31, and therefore with the actuator 2, andtherefore is displaced in rotation in the same manner as the actuator.

A fixed shaft 36 is fixed to the support of the rotation mechanism 35(it is, for example, nested by force into the support of the rotationmechanism) and extends along the axis A to approach the magnet as closeas possible to the magnetic sensor. The magnet is in this embodiment around magnet 37. The steering column 33 comprises an inside tubularspace wherein penetrates the fixed shaft 36 and the round magnet 37.

The circulation section of the space inside the steering column 33 isconsequently complementary with the circulation section of the roundmagnet 37. The steering column 33 therefore guides the round magnet 37and recentres this magnet in relation to the axis A. This balances themechanics and allows for an improvement in the precision of themeasurement of the rotation (by avoiding an unbalance, an imbalance ofthe magnet, a bending of the shaft 36). The measurement remains preciseeven in the case of bending of the steering column 33.

In an alternative, the round magnet is placed on a fixed shaft 36, andthe shape of this magnet completes the guiding in rotation of theactuator 2 around the axis A, by guiding the rotation of the steeringcolumn 33.

In another alternative, the fixed shaft 36 provides the guiding inrotation of the steering column 33 and therefore of the actuator 2around the axis A. A rounded form of the magnet does not procure anyadvantage then and the form of the magnet can therefore be different(for example, a bar magnet can be fixed to the end of a housing arrangedat the end of the shaft 36).

In the embodiment shown in FIGS. 5 and 6, the steering column 33 ismobile in rotation in relation to the fixed part and to the base 32, andthe shaft 36 is fixed in relation to the fixed part 3. This approach canbe inverted. The shaft 33 can be fixed in relation to the fixed part 3and to the base 32. The shaft 36 is then mobile in rotation in relationto the fixed part 3. The shaft 33 provides the guiding in rotation. Thelinking part could cooperate with the end of the shaft 36 and theactuator 2 (and provides a non-definitive link between them). Therotation of the actuator causes the rotation of the shaft 36. The magnetcan be fixed in relation to the fixed part 3. For example, a roundmagnet can be nested by force into the shaft 33. The shaft 36 is mobilein rotation in the round magnet (the round magnet then would contributein part to the guiding in rotation). The PCB carrying the magneticsensor 24 is then mobile in relation to the fixed part 3.

As an alternative to this inverted approach, the round magnet could befitted by force around the shaft 33 instead of being nested by force inthe shaft 33 (the shaft 33 being fixed as we are in the invertedapproach).

As a second alternative to this inverted approach, instead of being around magnet nested by force in the shaft 33, the magnet can be a barmagnet of a length less than the diameter of a cylindrical shaft 36which could be nested by force—without exceeding radially—in a slotarranged in the end of such a shaft 36 (in this case the shaft 33 is nolonger required, the guiding in rotation then able to be provideddirectly by the base 32 of the fixed part 3, and the diameter of theshaft 36 can be greater).

In the first preferred embodiment shown in FIGS. 5 and 6, the steeringcolumn 33 comprises a first pulley, or a portion of a pulley, 331,centred on the axis A, and two short shafts substantially parallel tothe axis A and which each carry a small return pulley 332 (only one canbe seen in FIG. 5, the other being mounted symmetrically). These pulleys331 and 332 guide an elastic cord 34 of which the ends are anchored tothe support of the rotation mechanism 35 fixed to the fixed part 3, ontwo grooves 351.

The axis of each of the pulleys 332 is integral with the steering column33. The pulleys 332 can more preferably turn around their axis. The endsof the elastic cord 34 are not fixed to the support of the rotationmechanism 35, they are simply anchored, maintained integral with thesupport of the rotation mechanism 35 by the pre-compressing of theelastic cord. Indeed, each end of the elastic cord 34 is attached to aspool (a part in the shape of a sewing spool, i.e. a sort of pulleywithout an axis of rotation).

This spool thrusts itself against the support of the rotation mechanism35 (the height of the spool does not allow it to cross over the groove351) but with the reserve of having first removed the fixed part 3 (orbefore having screwed the linking part 31 to the steering column 33, thebase 32 to the fixed part 3 and the support of the rotation mechanism 35to the fixed part 3), it is possible to radially pull on the spool (byopposing the elastic force) in order to remove the spool from thesupport of the rotation mechanism 35 by stretching the elastic beyondthe groove 351. This makes it possible to remove the elastic cord 34from the centre return system, then remove the steering column 33 fromthe support of the rotation mechanism 35.

The elastic cord 34 exerts, when the actuator 2 is displaced, aretaining force which tends to return the pulleys 332 and therefore thesteering column 33 and the actuator 2, to a neutral position(corresponding, in the case where a car is simulated, to a position ofthe wheels aligned with the simulated vehicle). The friction of theelastic cord 34 makes it possible to simulate a resistance in thesteering. The elastic cord 34 exerts in particular a substantiallyvertical resultant force on the pulley 331, which supports the steeringcolumn which improves the quality perceived by the user.

In another embodiment, the neutral return system of the steering wheelcan use two extension springs having identical characteristics acting oneither side of the steering column instead of an elastic cord andpulleys. In the neutral position of the actuator, the two extensionsprings are slightly pre-compressed. When the actuator 2 is displaced,each of the two springs exerts a retaining force which tends to returnthe steering column and the actuator to neutral position.

In yet another embodiment, the neutral return system (or return to thecentre) of the steering wheel is even more simple: a torsion spring ofwhich the inside diameter of the spires is slightly greater than theoutside diameter of the steering column is placed around the steeringcolumn. This torsion spring cooperates with a lug arranged on theinternal face of the part 32 of the base. This spring comprises only afew spires and, in final position, the branches of this spring are atthree hundred sixty degrees (i.e. substantially parallel). In theneutral position of the actuator, the spring is slightly pre-compressedand the two branches of this torsion spring press against the lug. Whenthe actuator 2 is displaced, one of the branches of the spring movesaway from the lug and a retaining force tends to return this branchagainst the lug and therefore the steering column and the actuator toneutral position.

In a particular embodiment, the rotation of the steering column 33 isdynamised by a force feedback system by means, for example, of a rotaryelectric motor acting on the steering column by the intermediary of asystem of toothed belts and gears. In this case, a gear of largediameter (for the precision) is fixed coaxially to the steering column33. This gear receives mechanically (via a train of gears and/or toothedbelts and wheels) the forces exerted by the electric motor which isactuated according to the force feedback effect implemented by aprogramme (for example, a video game). The gear, and therefore thesteering column 33 and the actuator 2, pivots or stops its rotationaround the axis A under the action of the electric motor, for example,it can return the actuator 2 to neutral position, or oppose the rotationof the steering column 33, cause the rotation of the steering column 33,cause shakes in the rotation of the steering column 33, etc.

The FIG. 5 clearly shows the round magnet 37. As indicated hereinabove,the form of the round magnet 37 makes it possible to guide it inrelation to the steering column 33, i.e. to maintain it coaxial with theaxis A. It is placed at the top of the shaft 36, and can therefore belocated in the immediate vicinity (for example less than 9 mm) of theHall effect magnetic sensor 24 placed in the actuator 2. The shaft 36thus constitutes in this embodiment a magnet carrier rod. Generally, thestronger the magnet, the greater the distance can be between themagnetic sensor and the magnet. In this embodiment, this distance is8.05 mm.

According to an alternative of this first embodiment of the invention,the magnetic sensor 24 (and where applicable one or other sensorsassociated for example, to a system for dynamisation of the steeringcolumn in translation) provides in real time the data which allows amicroprocessor (which can be placed on a PCB located either in theactuator 2, or in the fixed part 3) to control in real time thedisplacement in rotation of the steering column 33, by determining inreal time the actual displacement or displacements (the actual angle canbe measured directly but it is also possible to determine the actualdirection, acceleration and speed of the displacement).

It is as such possible to take into account the consequences caused bythe forces exerted by the user on the actuator 2 (and therefore on thesteering column 33) and to adjust the electric signal if required.

For example, if the force feedback effect is an immobility (i.e. anabsence of rotating movement of the actuator and of the steeringcolumn), the user is likely to fight against this immobility. Then,without control, the steering column 33 is likely to be displaced underthe action of the forces exerted by the user despite the electric signalused. In this example, if the sensor 24 measures a change in positionwhile the microprocessor is executing an “immobility” instruction, thenthe microprocessor can adjust in real time the electric signal in orderto counter the forces of the user (for example, by increasing thevoltage).

The control of the displacement in rotation therefore includes here thecontrol of the amplitude of the displacement (including a displacementtravel of zero), of its direction, of the acceleration and of the speedof displacement, via an electric signal of which the characteristicsmake it theoretically possible to obtain these displacement parameters,the verification of the actual execution of these parameters and theadjusting of the displacement if required. In this alternative of thefirst particular embodiment, the displacement is therefore controlled.

In other terms, there are two ways to implement this first particularembodiment of the invention:

-   -   the first, without control, wherein the displacement is        controlled in an open loop, without knowing the actual        displacement therefore without taking into account whether or        not the user exerts forces which affect the displacement (for        example, the position or the speed); and    -   the second, with control, wherein the actual displacement is        measured in real time in order to adjust if required the        electric signal (including, for example, the voltage).

In other embodiments, the round magnet 37 can be placed at another fixedlocation in relation to the fixed part 3. For example, it can be mountedon the base 32 and placed around the mouth of the base 32, i.e. of theopening arranged in this base so that the steering column 33 can exitthrough the base 32. In this case, the shaft 36 will no longer benecessary and the outside diameter of the steering column 33 could bereduced. And, it is possible to extend the mouth of the base 32 in thedirection of the axis A so that it forms a tube that is longer than theshort tubular bearing shown in FIG. 6, in such a way that the roundmagnet is located at the end of this tube and inside the linking partand is as close as possible to the magnetic sensor.

In the first preferred embodiment shown in FIGS. 4 and 5, the fixed part3 does not comprise any element that operates thanks to electriccurrents or to electromagnetic fields. Indeed, this fixed part does notcomprise any element operating thanks to electric currents or toelectromagnetic fields (in particular, there is no electric motor orelectronic component). Moreover, in the embodiment shown in FIGS. 4 and5, the fixed part 3 does not comprise any element that controls or thatcarries electric currents (in particular, there is no electricconnector, electric cable, or electric switch).

FIG. 6 is a cross-section view of the controller. It makes it possibleto view the interior of the actuator 2 and the interior of the fixedpart 3. The Hall effect magnetic sensor 24, integral with the interiorof the actuator 2, is located in the immediate vicinity of the cavity 21wherein is housed the linking part 31 of the fixed part 3. In this way,the magnetic sensor 24 is located very close to the round magnet 37,which exerts a magnetic field that passes through the linking part 31.Measurements of great precision can therefore be taken.

More precisely, when the user displaces the actuator 2 in rotation, hesimultaneously drives in rotation the magnetic sensor 24 in relation tothe round magnet 37, which remains fixed since the latter is integralwith the support of the rotation mechanism 35 and therefore with thefixed part 3. Therefore the magnetic sensor 24 measures according to atleast two directions (so that it gets at least two vector components ofthe magnetic density flux) a variation in the magnetic field because ofthe rotary movement of the magnetic sensor in relation to the magnet,which can be transformed into a precise angle of rotation, direction ofrotation and speed of rotation, and transmitted to the data processingsystem executing the game. This rotating movement of the actuator 2 isat the same time applied to the linking part 31, and to the steeringcolumn 33 including to the portion or return part carrying the two shortshafts and the pulleys 332. The latter then acts, via the elastic cord34, anchored to the support of the rotation mechanism 35 (therefore tothe fixed part 3), in order to generate an elastic retaining forceallowing for the return to the centre of the actuator 2, to neutralposition, as soon as the user stops exerting a torque thereon.

It is possible to provide a stop integral with the movable shaft 33 andwhich cooperates with the fixed part (or the support of the rotationmechanism 35) in order to limit the rotation of the shaft 33 in such away as to prevent a rupture of the elastic cord 34 or prevent theelastic cord from generating a restoring torque that is dangerous forthe user.

However, it is also possible to provide, in a particular embodiment,that the actuator can perform a large number of revolutions, and eventhat the number of revolutions not be limited. This is in particularmade possible by the absence of contacts between the actuator 2 and thefixed part 3. This has an interest in particular when it is desired tosimulate the execution of manoeuvres (for example, carry out a U-turn inthe simulated car).

3. Detailed Description of a Second Preferred Embodiment

In the second preferred embodiment described hereinafter, the gamecontroller implements two force feedback systems each procuring variedeffects (sensations of inertia, of blocking, of damping, of impact, ofvibration, etc.).

More precisely, the rotation and the translation of the steering columnof the steering wheel are dynamised by linear and rotary electric motorsrespectively.

As such, the rotation of the steering column is dynamised by a torqueand vibration effect system that makes it possible to create torqueeffects and/or vibration effects around the axis of rotation of the gamecontroller.

Furthermore, a new force feedback axis is provided on the gamecontroller by at least one translation of the steering column thusoffering new force feedback effects and simulations that are morerealistic. It is possible to provide in particular a translation of thesteering column carried out over a short distance of travel.

This translation is carried out according to the axis of the column oraccording to an axis that is close through an assembly of two slidingparts sliding in relation to one another and of an electromagneticdevice simulating as such in particular effects of suspension, ofacceleration and/or of deceleration, for example according to thetechnique described in patent application FR 1053757, filed by theApplicant.

FIG. 7 is a view in perspective of a second example of a game controlleraccording to the invention. This controller 101 comprises an actuator102, in the form of a steering wheel (steering wheel type of a salooncar, for example) mobile in rotation in relation to a fixed part orframe 103 according to an axis A of rotation, and which can be detachedfrom this fixed part 103. The fixed part 103 can be mounted on a fixedsupport S through a known system of fastening F, as shown in FIGS. 10Aand 10B. The fixed part 103 comprises, as shown in FIG. 10C, an uppershell 103 a assembled in a removable manner to a lower shell 103 b andto a front face 103 c.

The lower shell 103 b of the fixed part 103 provides the link or thefastening, whether or not reversible, of the controller 101 to a supportsuch as a table, a worktop or a cockpit. The game controller 101 can beassociated with pedals and, in the case where the shifting of speeds isnot carried out at the steering wheel, to a gearbox separated from thesteering wheel.

FIG. 7 shows, via a perspective view, the interior of the controller 101once the upper shell 103 a and the front face 103 c are removed inparticular.

In this figure can be distinguished a plate 134 connected in a fixedmanner to the fixed part 103, the shaft 133 (which constitutes thesteering column of the controller 101) to which is connected theactuator 102. The shaft 133 (or steering column 133) is integral withthe actuator 102, and is therefore displaced in rotation around the axisA in the same way as the actuator 102.

FIG. 8 shows, via a perspective view, the interior of the controller 101once the upper shell 103 a, the front face 103 c and the lower shell 103b are removed in particular.

The rotation of the steering column 133 is dynamised by a first system,referred to as the torque effect system and, where applicable, forvibration(s), by means, for example, of a rotary electric motor 141 ofwhich the axis of rotation is more preferably substantially parallel tothat of the steering column 133. The rotary electric motor 141 acts onthe steering column 133 by the intermediary of a system of pulleys ortoothed wheels and of belts or chains. In the embodiment shown, atoothed belt and toothed wheels are used.

In this case, a toothed wheel 142 of large diameter (for the precision)is fixed coaxially to the steering column 133. This toothed wheel 142receives mechanically (via a train of toothed wheels and a toothed belt)the forces exerted by the electric motor 141 which is actuated accordingto the torque or vibration effects implemented by the game.

As such, on this toothed wheel 142 is mounted a toothed belt 143connected to a small toothed wheel of the intermediary wheel 145. Thisintermediary wheel 145 comprises indeed a small toothed wheel (not shownas the intermediary wheel is shown only partially) and a large toothedwheel which are coaxial (the intermediary wheel 145 forms a single partbut it could be formed from two parts fixed together). The large toothedwheel of the intermediary wheel 145 drives a toothed belt 144. Thistoothed belt 144 is connected to the shaft of the rotary electric motor141 (which dynamises in rotation the shaft 133 of the actuator 102).

The toothed wheel 142, and therefore the steering column 133 and theactuator 102, pivots or stops its rotation around the axis A under theaction of the electric motor 141. For example, it can return theactuator 102 to neutral position, or oppose the rotation of the steeringcolumn 133, cause the rotation of the steering column 133, cause shakesin the rotation of the steering column 133, etc.

Inversely, as the steering column 133 of the actuator (steering wheel inthe case shown) 102 is connected to the rotary electric motor 141 via asystem of toothed belt and wheel system, a movement of the actuator 102is transmitted to the steering column 133 of the steering wheel and tothe shaft (or axis) of the rotary electric motor 141.

As such, the system of toothed belts and wheels transmits the rotatingmovement of the shaft of the steering wheel to the shaft of the rotaryelectric motor (and reciprocally). In this sense, these shafts areintegral in rotation.

Such a torque effect system using a rotary electric motor allows for areturn to the centre (here, a return of the actuator 102 to neutralangular position) which does not limit the number of revolutions thatthe actuator 102 can carry out, contrary to what is made possible by acentre return system via elastic or spring(s).

A magnet carrier 127 a (i.e. a magnet support 127 a) is mounted integralwith the axis or with the shaft of the rotary electric motor 141. Thismagnet carrier 127 a, and therefore the magnet 127 b, is mobile inrotation around the axis of rotation of the rotary electric motor 141.

A magnetic sensor (a biaxial Hall effect sensor here) 124 mounted on aPCB 126 is placed in the vicinity of the magnet carrier 127 asubstantially in the extension of the axis of the rotary electric motor141.

In other terms, the magnetic sensor 124 is placed not across from theshaft 133 of the actuator 102 as in the first embodiment but across fromthe shaft of the rotary electric motor 141.

Note that the support of the PCB 126 of the magnetic sensor is not shownin FIGS. 7 and 8, but can be seen in FIG. 12 (referenced as 180). Thissupport 180 of the PCB 126 and the magnetic sensor 124 are integral withthe fixed part of the motor, i.e. with the case or envelope of theelectric motor which is fixed by screws to the upper half-shell 129 ofthe rotary electric motor 141. The support 180 of the PCB 126 and themagnetic sensor 124 are not integral with the fixed part 103 of thecontroller 101.

As shall be seen in what follows, the rotary electric motor 141 isdriven in translation, with the lower half-shell 128 and with the upperhalf-shell (which is not shown), by the linear electric motor inrelation to the fixed part 103 of the controller 101. Moreover, theshaft 133 of the actuator 102 is mobile in rotation in relation to thelower half-shell 128 which is mobile in translation, but not inrotation, in relation to the fixed part 103 of the controller 101.

The steering column 133, and therefore the steering wheel 102, isdynamised in translation by a second system, referred to as a forcefeedback system.

To do this, the controller 102 of the game controller 101 is mountedmobile in translation in relation to the fixed part 103 according to itsaxis of rotation A or according to an axis close to (and thereforeseparate) this axis A, over a predetermined range of displacement, usingan assembly of two sliding parts sliding in relation to one another. Thedisplacement in translation of the controller 102 is controlled by anelectromagnetic device 190 (or linear electric motor) which can be seenpartially in FIG. 12 (the shoe 161 is concealing it almost entirely),and the same applies to the support 180 of the PCB 126 of the magneticsensor.

More precisely, as shown in FIG. 13, the electromagnetic device 190controls the displacement in translation of a guiding body 191 mobile inrelation to the fixed support 103 and whereon are made integral thesteering column 133 and the actuator 102. This guiding body 191 slidesin relation to a guiding plate 192 which is integral with the fixed part103.

The guiding body 191 has the form of a base with a substantiallyparallelepiped shape comprising a slot (or housing) that can be accessedby two rectangular openings located on two opposite faces of the base.

The guiding plate 192 has the form of a magnet carrier plate whichcarries at least one magnet (not shown) and comprises a part orpenetrating portion 51 intended to be housed in the housing of theguiding body 191, as shown in FIG. 13. This magnet carrier plate 192 isfurthermore integral (here via screwing) with the prongs 1341 of theplate 134 and with the two right 161 and left 160 shoes. The base of theguiding body 191 comprises at least one winding (not shown) which,according to the electric signal passing through it, causes thedisplacement of the base in relation to magnet carrier plate 192. It iseasily understood that the direction, the travel (or range) and/or thespeed of displacement of the base of the guiding body 191, and thereforeof the steering column 133, are according to the electric signal runningthrough the winding or windings. The maximum travel depends on thedimensions of the linear motor used. It is possible to use a linearmotor of which the guiding body 191 is longer in order to obtain anamplitude of relative displacement of the guiding body 191 that isgreater in relation to magnet carrier plate 192 and therefore a maximumtravel of the steering column 133 that is longer.

Note that in this second preferred embodiment, the steering column 133is not horizontal but inclined in relation to the horizontal in order tomake it possible to have the user feel the force feedback effectaccording to four directions (up, down, front, rear) thanks to only anelectromagnetic device, a guiding body 191 and a guiding plate 192.

In an alternative embodiment described hereinabove, the guiding body 191can be integral with the fixed part 103 and the guiding plate 192 can beintegral with the actuator 102.

In another embodiment, the steering column 133 can be substantiallyhorizontal.

In FIG. 11, the interior of the controller 101 can be distinguished oncethe steering wheel 102, the upper shell 103 a, the lower shell 103 b andthe front face 103 are removed (as well as the paddles 125 for speedchange, the cover 174, the bellows 175, the stick 172 with its connector123, and the nut 173). The lower 128 and upper 129 half-shells are fixedtogether, for example, by screws.

In order to allow for the translation of the steering column 133 (and atthe same time of the half-shells 128, 129 and of the torque andvibration effect system, implementing the rotary electric motor 141 inparticular), a linear electric motor (the linear electric motor is notshown in FIG. 11, but can be seen in FIG. 13 (referenced as 190))comprising two elements, one being mobile in translation in relation tothe other according to an electric signal, is implemented. One of theelements of the linear electric motor is fixed to the plate 134 and tothe two right 161 and left 160 shoes (which are fixed in relation to thefixed part 103) and the other element is fixed to the lower half-shell128, for example by screws.

Moreover, a plate 163 is fixed to the half-shells 128, 129, for exampleby screws, this plate 163 being mobile in translation but not inrotation. It comprises two roller tensioners 162 which act on thetoothed belt 143.

The controller 101 comprises a system of fastening which makes itpossible to fix and to lock reversibly the actuator 102 to the fixedsupport 103 in such a way as to allow for the transmission of therotating movement of the actuator 102 towards the steering column which,in this embodiment, is the shaft 133.

FIG. 9 shows the steering wheel 102 a when it is detached from the fixedpart 103. The steering wheel 102 a comprises a threaded tip 170 whichcomprises a cavity-receptacle 171, in the form of a female end, whereinis housed a connector 123 a, for the supply of electrical energy and/ordata transmission. This data corresponds for example to information onthe rotation of the actuator 102, and where applicable additionalinformation, such as a speed change command, when the user acts on thepaddles 125 (which can be seen in FIG. 10C), or other commands triggeredby the activation of buttons 126 (which can be seen in FIG. 7) locatedon the actuator 102, or where applicable to states to be displayed byindicators, or finally to information on the vibrations (or electricsignals corresponding to the vibrations) which must be executed by smallvibration systems incorporated into the wheel of the steering wheel 102a (such a vibration system comprises a small rotating electric motor anda dissymmetric mass fixed to the shaft of this small motor, in such away that the centre of gravity of this mass is separated from the axisof rotation of the small rotating electric motor and that this causes anunbalance and therefore vibrations in the wheel of the steering wheel102 a).

The other part 102 b of the actuator 102 integral with the front face103 c of the fixed part 103 is shown in FIG. 10. It comprises a stick172 in the form of a male end which is fixed to the shaft 133 of theactuator 102. A movable ring or nut 173 of which the inside bore isthreaded is placed on the stick 172. The nut 173 is mobile in rotationand in translation as long as it is not screwed, a shoulder of the stick172 however forming a stop in translation which prevents the nut 173from becoming completely separated from the stick 172.

In order to attach the steering wheel 102 a shown in FIG. 9 to the part102 b of the actuator 102 shown in FIG. 10, it is required to push thesteering wheel 102 a against the stick 172 of the steering column orshaft 133 of the actuator 102 and to place the male end of the stick 172into the female end of the cavity-receptacle 171 of the tip 170 of thesteering wheel 102 a. It is then required to turn the nut 173 in orderto screw it onto the screw thread of the threaded tip 170 of thesteering wheel 102 a. The steering wheel 102 a is then integral inrotation and in translation with the stick 172 and therefore with thesteering column 133.

Of course, it is possible to replace this system of fastening of thesteering wheel 102 a with the system of fastening described in the firstpreferred embodiment in such a way that the fixed part 103 uses thesystem of fastening which makes it possible to fix and to lockreversibly the actuator 2 onto a linking part 31. The actuator 2 canthen be fixed reversibly onto such a fixed part. In this case (if thesteering wheel 102 a comprises electrical elements), the connector 123is replaced with a connector 23 (or with a case of batteries and whereapplicable a wireless transmission device if signals must be sent orreceived by the steering wheel 102 a).

FIG. 10C also shows a bellows 175 and a cover 174, intended to prevent,or at least limit, the presence of dust and fouling in the fixed part103 of the controller 101.

The other part 102 b of the actuator 102 further comprises a connector123 b, with the electric signals being sent via these connectors 123 a,123 b in a bidirectional manner.

The dimensions and the forms of the tip 170 of the actuator 102, of thestick 172 and of the nut 173 are selected in such a way that theconnectors are not subjected to any substantial forces and,consequently, are not degraded.

Many other means for reversible fastening can of course be implemented,without leaving the scope of the invention, including a simple nestingby force of the steering wheel 102 a on the steering column 133, in asimplified embodiment.

According to a particular embodiment of the invention, the magneticsensor 124 provides in real time the data which allow a microprocessorto control in real time the displacement in rotation (and whereapplicable the displacement in translation), by determining in real timethe actual displacement or displacements (the actual travel and theactual angle can be measured directly but it is also possible todetermine the actual direction, acceleration and speed of thedisplacement).

This particular embodiment makes it possible to take into account theconsequences caused by the forces exerted by the user on the actuator102 (and therefore on the steering column 133 and on the shaft of therotary electric motor 141 which is integral with it) and to adjust theelectric signal if required. It allows for a control of the displacementin rotation (and, where applicable, of the displacement in translation).In this particular embodiment, the displacement is therefore controlled.

In the second embodiment shown in particular in FIGS. 7 and 9, the part102 a of the actuator comprises buttons 126 and a connector 123 a.According to an alternative of the invention, the actuator 102 a maycontain no element controlling or carrying electric currents (inparticular no button and no connector). Indeed, the actions whichcorrespond to the buttons can be carried out via one or several devicesof the fixed part 103, more precisely thanks to one or several controldevices. These control devices can, for example, have the form thatresembles that of a windscreen wiper control stick and/or that of a turnsignal control stick. Moreover, note that the presence of vibrationsystems incorporated into the wheel of the steering wheel 102 a is notindispensable as the torque effect system is also able to producevibrations and this in a more realistic manner. Consequently, accordingto this alternative, only the fixed part 103 then comprises elementsthat control or that carry electric currents (all of the “electrical”elements of the game controller are then grouped together in the fixedpart 103), contrary to the first preferred embodiment of the inventionaccording to which the actuator 2 groups together all of the“electrical” elements).

Due to the absence of the need for permanent contact between theactuator 2, 102 and the fixed part 3, 103, the actuator can easily bechanged for another type of actuator. This can be done in coherency withthe software and more precisely according to the vehicle simulated bythe software, and makes it possible to adapt the ergonomics and thefeeling of the various actuators.

For example, the user can easily change an actuator of the steeringwheel type to install an actuator of the handlebar type if the videogame with which he is playing simulates a motorcycle, instead of asteering wheel mounted beforehand. It is also possible to providevariations of the steering wheel, according to the type of simulatedvehicle. For cars, the variations of steering wheel can in particularbe: formula 1, saloon, rally, all-terrain, kart, etc. For trains, thevariations can be: Micheline, T.G.V., etc. For motorbikes, thevariations in handlebars can be: unprepared motorcycle, racingmotorcycle, off-road motorcycle, rally motorcycle, scooter, etc. Forbicycles, the variations in handlebars can be: racing cycle, hybridbicycle, mountain bicycle, city bicycle, etc. for boats, the variationsin helm wheels can be: galleon wooden helm, helm of a modern sailingship, fly-wheel, etc. The actuators can therefore have different shapes,different diameters, different buttons in such a way that theirergonomics is adapted to the type of simulated vehicle. They can furthercomprise motors with different vibrations, they can be wired or wireless(for data transmission), etc.

It is also possible to provide, in a particular embodiment, that thenumber of revolutions that the actuator can carry out in relation to thefixed part differ according to the type of actuator used or according tothe type of fixed part used or according to the range level of thecontroller. As such, magnetic sensors or different magnets can beprovided, according to the actuators, in such a way as to obtaindifferent restored effects, a different resolution (more or less precisedisplacement measurements), and/or a resistance that is more or lessstrong to the magnetic disturbances or to the temperature variations,etc.

In the figures, the game controller is shown without a device providingthe link with the floor or the reversible or non-reversible fasteningwith a support such as a table or a worktop or a cockpit. Such devicesexist. For example, the game controller can be provided with a deviceaccording to U.S. Pat. No. 6,378,826 and in this case, with a fixed partcarried out according to the first preferred embodiment, the fixed partand the device do not comprise any element operating thanks to electriccurrents or to electromagnetic fields and no element that controls orthat carries electric currents. More preferably, this device can beseparated from the fixed part.

According to another embodiment of the invention, the first embodimentis combined with the second embodiment described hereinabove. Inparticular, the fixed part 3 can be modified in such a way that thisfixed part comprises the first torque and vibration effect system andthe second system, referred to as force feedback system, described inthe second preferred embodiment. A first Hall effect or magnetoresistiveeffect detecting unit can be used to measure the displacement inrotation of the axis of the rotary electric motor 141 of the torque andvibration effect system. To this effect, a magnetic sensor 124 mountedon a PCB 126 can then be placed in the vicinity of the magnet carrier127 a substantially in the extension of the axis of the rotary electricmotor 141 in order to measure the displacement in rotation of the magnet127 b. It is also possible to measure the displacement in translation ofthe steering column:

-   -   either via a second sensor (placed on a PCB screwed to a support        fixed to the shoe or to the upper shell 103 a) measuring the        displacement in translation of the magnet 127 b (i.e. the        displacement in translation of the axis of the rotary electric        motor 141 of the torque and vibration effect system which is        integral in translation with the steering column 133);    -   or via a second Hall effect or magnetoresistive effect detecting        unit measuring the displacement in translation of the steering        column (or of another part integral in translation with the        steering column).

In such an embodiment, a magnetic sensor on board in the actuator 2(intended to cooperate with a magnet 37 of the fixed part which isplaced in the vicinity of the system of fastening) is no longerindispensable as the information pertaining to the measurement of thedisplacement of the steering column in rotation is then redundant withthe information from the first Hall effect or magnetoresistive effectdetecting unit. However, the magnetic sensor on board in the actuatormakes it possible to detect the presence and the type of fixed part withwhich cooperates the actuator 2 (if the fixed part incorporates thefirst detection unit, then in order to prevent redundancy and saveenergy, it is possible to automatically deactivate the detection unit onboard in the actuator until the reinitialising or the turning back on ofthe game controller, and to deactivate all of the on-board circuits ifthe fixed part comprises all of the required commands and if the userhas not pressed a button for the activation of the actuator for apredetermined period of time). Furthermore, the presence of the magneticsensor on board in the actuator renders the actuator 2 fully compatiblewith the various types of fixed parts (those that comprise and thosethat do not comprise a first Hall effect or magnetoresistive effectdetecting unit).

The invention claimed is:
 1. A game controller having an actuator mobilein rotation in relation to a fixed part, in such a way as to simulate acontrol of the rotation of a steering column of a simulated vehicle,comprising : at least a motion production system comprising a rotatablepart which is mobile in rotation in relation with the fixed part and anon-rotatable part which is not mobile in rotation in relation with thefixed part, the rotatable part of said motion production system and thenon-rotatable part of said motion production system being substantiallycoaxial, wherein said motion production system generates displacement inrotation of the rotatable part in relation to the non-rotatable s partby elasticity or electromagnetism, means for detecting the displacementin rotation of the rotatable part of said motion production systemcomprising at least one Hall effect or magnetoresistive effect detectingunit, constituted of at least two elements, of which a permanent magnetand a magnetic sensor, in that, at least during the rotation of saidactuator, the actuator is integral in rotation with the rotatable partof said motion production system, and in that, at least during therotation of said actuator, a first of said elements is integral inrotation with said actuator and is fixed in relation to the rotatablepart of said motion production system, and in that, at least during therotation of said actuator, a second of said elements is integral inrotation with said fixed part and is fixed in relation to thenon-rotatable part of said motion production system, in such a way boththe angular displacement of the rotatable part of said motion productionsystem with respect to the fixed part being identical to the angulardisplacement of the rotatable part of said motion production system withrespect to the non-rotatable part.
 2. The game controller according toclaim 1, characterised in that at least two of said elements aresubstantially aligned according to the axis of rotation of saidrotatable part of said motion production system, and in that, theactuator and the rotatable part of said motion production system aresubstantially coaxial.
 3. The game controller according to claim 1having at least a rotary electric motor to generate displacement inrotation of the actuator, wherein the rotatable part of said motionproduction system is a rotor of said rotary electric motor and whereinthe non-rotatable part of said motion production system is a stator ofsaid rotary electric motor, characterised in that a first of said atleast two elements is fixed to the rotor of said rotary electric motorin such a way said rotor forms at least a part of a carrier carrying thefirst of said at least two elements, and in that, a second of said atleast two elements is located in the vicinity of the first of said atleast two elements across from the rotor of the rotary electric motor.4. The game controller according to claim 3, characterised in that itcomprises a steering column and at least one linear electric motoracting on said steering column for displacement in translation of saidactuator in relation to said fixed part over a predetermined range ofdisplacement.
 5. A game controller having an actuator mobile in rotationin relation to a fixed part, in such a way as to simulate a control ofthe rotation of a steering column of a simulated vehicle, comprising :at least a rotary electric motor to generate displacement in rotation ofthe actuator, and means for detecting the displacement in rotation ofsaid actuator comprising at least one Hall effect or magnetoresistiveeffect detecting unit, constituted of at least two elements, of which apermanent magnet and a magnetic sensor, in that, at least during therotation of said actuator, a first of said elements is integral inrotation with said actuator and a second of said elements is integral inrotation with said fixed part, characterised in that the magnet is fixedto a rotor of said rotary electric motor in such a way said rotor formsat least a part of a carrier carrying the first of said at least twoelements, in that, the magnetic sensor is located in the vicinity of thefirst of said at least two elements across from the rotor of the rotaryelectric motor, in that said actuator can be detached from a steeringcolumn of the game controller by a player, and in that the magneticsensor is mounted on a support which is integral with the stator of therotary electric motor, and in that the magnet is at an end of said rotorof said rotary electric motor in such a way said magnet is placed lessthan 9 mm from the magnetic sensor.
 6. A game controller having anactuator mobile in rotation in relation to a fixed part, in such a wayas to simulate a control of the rotation of a steering column of asimulated vehicle, comprising : means for detecting the displacement inrotation of said actuator comprising at least one Hall effect ormagnetoresistive effect detecting unit, constituted of at least twoelements, of which a permanent magnet and a magnetic sensor, in that, atleast during the rotation of said actuator, a first of said elements isintegral in rotation with said actuator and a second of said elements isintegral in rotation with said fixed part, and in that, said actuatorcan be detached from a steering column of the game controller by aplayer, characterised in that said actuator comprises a housing forminga female part, provided to nest reversibly on a corresponding male parton said fixed part.
 7. The game controller according to claim 6,characterised in that a portion of the actuator forming a casingprovides the protection of the magnetic sensor.
 8. A game controllerhaving an actuator mobile in rotation in relation to a fixed part, insuch a way as to simulate a control of the rotation of a steering columnof a simulated vehicle, comprising : means for detecting thedisplacement in rotation of said actuator comprising at least one Halleffect or magnetoresistive effect detecting unit, constituted of atleast two elements, of which a permanent magnet and a magnetic sensor,in that, at least during the rotation of said actuator, a first of saidelements is integral in rotation with said actuator and a second of saidelements is integral in rotation with said fixed part, and in that saidactuator can be detached from a steering column of the game controllerby a player, characterised in that it comprises means for reversiblylocking of said actuator onto said fixed part.
 9. The game controlleraccording to claim 8, characterised in that said actuator comprises aconnector for the supply of electrical energy.
 10. The game controlleraccording to claim 8, characterised in that said actuator belongs to thegroup comprising: steering wheels; handlebars; ship helms.
 11. The gamecontroller according to claim 8, characterised in that it comprises oris compatible with at least two interchangeable actuators, each havingdifferent forms and/or different commands, in such a way the player canchange a first actuator of the game controller to install a secondactuator having a different form and/or different commands.
 12. The gamecontroller of claim 8 further comprising: the actuator mobile inrotation in relation to the fixed part, in such a way as to simulate acontrol of the rotation of a steering column.
 13. The game controller ofclaim 8 further comprising: the fixed part with the actuator mobile inrotation in relation to said fixed part.
 14. A game controller having anactuator mobile in rotation in relation to a fixed part, in such a wayas to simulate a control of the rotation of a steering column of asimulated vehicle, comprising at least one Hall effect ormagnetoresistive effect detecting unit for detecting at least the angleof the displacement in rotation of said actuator, characterised in thatthe Hall effect or magnetoresistive effect detecting unit is constitutedof at least two elements, of which a magnet and a multiaxis magneticsensor sensing the characteristics of the magnetic field of the magnetaccording to at least two directions, in that, at least during therotation of said actuator, a first of said elements is integral inrotation with said actuator and a second of said elements is integral inrotation with said fixed part, in that the game controller comprises atleast one of a center return system and an electric motor, said at leastone of an electric motor and of a said center return system beingcentred on and symmetrical with respect to the axis of rotation of theactuator and, said at least one of an electric motor and of a saidcenter return system guiding one of said at least two elements inrelation to the axis of rotation of said actuator, in such a way thiselement being substantially recentred according to the axis of rotationof said electric motor or center return system and said multiaxismagnetic sensor detecting at least the angle of rotation of the magnetin relation to the said multiaxis magnetic sensor.
 15. The gamecontroller according to claim 14 characterised in that a shaft of saidelectric motor or a shaft of said center return system is fixed to saidfixed part.
 16. The game controller according to claim 15 characterisedin that it comprises a steering column mobile in rotation around saidshaft.
 17. The game controller according to claim 14 characterised inthat it comprises a steering column and in that said electric motor orcenter return system is a part of said steering column.
 18. A gamecontroller having an actuator and a shaft which are mobile in rotationin relation to a fixed part, in such a way as to simulate a control ofthe rotation of a steering column of a simulated vehicle, and at leastone Hall effect or magnetoresistive effect detecting unit for detectingat least the angle of the displacement in rotation of said actuator,wherein the Hall effect or magnetoresistive effect detecting unit isconstituted of at least two elements, of which a magnet and a magneticsensor, characterised in that a linear electric motor acting between ahousing and the fixed part drives both said shaft and said housing intranslation in relation to said fixed part, in that said shaft is mobilein rotation in relation to said housing, in that said housing is mobilein translation, but not in rotation, in relation to said fixed part, inthat, at least during the rotation of said actuator, a first of saidelements is integral in rotation with said actuator and a second of saidelements is integral in rotation with said fixed part.
 19. The gamecontroller according to claim 18 characterised in that it comprises asensor for detecting at least the displacement in translation of saidshaft.
 20. The game controller according to claim 18 characterised inthat the actuator is reversibly attached to the fixed part in such a waythat it can be detached by a user.
 21. The game controller according toclaim 18 characterised in that it comprises a rotary electric motoracting on the actuator.
 22. A game controller having an actuator mobilein rotation in relation to a fixed part, in such a way as to simulate acontrol of the rotation of a steering column of a simulated vehicle,comprising : means for detecting the displacement in rotation of saidactuator comprising at least one Hall effect or magnetoresistive effectdetecting unit, constituted of at least two elements, of which apermanent magnet and a magnetic sensor, in that, at least during therotation of said actuator, a first of said elements is integral inrotation with said actuator and a second of said elements is integral inrotation with said fixed part, in that, a fixed magnet carrier extendingsubstantially according to the axis of rotation of said actuator isfixed to said fixed part, and in that, at least one of said elements iscarried and fixed to said fixed magnet carrier.
 23. The game controlleraccording to claim 22, characterised in that said fixed magnet carrierpenetrates in a mobile part which is mobile in rotation around saidfixed magnet carrier according to the axis of rotation of said actuator.24. The game controller according to claim 23, characterised in thatsaid magnetic sensor is in said actuator, and in that said magnetcarrier is a rod which carries said magnet in such a way that saidmagnet penetrates in said mobile part and is placed less than 9 mm fromsaid magnetic sensor.